U.S. patent number 10,029,857 [Application Number 15/311,864] was granted by the patent office on 2018-07-24 for package loading instruction method and loading instruction system.
This patent grant is currently assigned to Panasonic Intellectual Property Management Co., Ltd.. The grantee listed for this patent is Panasonic Intellectual Property Management Co., Ltd.. Invention is credited to Daisuke Nishimura, Kimiaki Toshikiyo.
United States Patent |
10,029,857 |
Toshikiyo , et al. |
July 24, 2018 |
Package loading instruction method and loading instruction
system
Abstract
An arrangement of loaded packages is estimated
three-dimensionally. A loading position at which a target package
is loaded next is determined based on the estimated arrangement. A
position at which the target package is loaded is instructed by
irradiation with an index light indicating the determined loading
position. This method allows a package to be loaded in a limited
space, for example, the package to be loaded optimally in a
transport device or in a storehouse.
Inventors: |
Toshikiyo; Kimiaki (Osaka,
JP), Nishimura; Daisuke (Osaka, JP) |
Applicant: |
Name |
City |
State |
Country |
Type |
Panasonic Intellectual Property Management Co., Ltd. |
Osaka |
N/A |
JP |
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Assignee: |
Panasonic Intellectual Property
Management Co., Ltd. (Osaka, JP)
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Family
ID: |
55263423 |
Appl.
No.: |
15/311,864 |
Filed: |
July 16, 2015 |
PCT
Filed: |
July 16, 2015 |
PCT No.: |
PCT/JP2015/003595 |
371(c)(1),(2),(4) Date: |
November 17, 2016 |
PCT
Pub. No.: |
WO2016/021124 |
PCT
Pub. Date: |
February 11, 2016 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20170267461 A1 |
Sep 21, 2017 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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62032963 |
Aug 4, 2014 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B65G
61/00 (20130101); G01B 11/24 (20130101); G01S
17/08 (20130101); B65G 57/03 (20130101); B65G
43/08 (20130101); G01B 11/00 (20130101); G01S
17/894 (20200101); B65G 2209/04 (20130101) |
Current International
Class: |
B65G
43/08 (20060101); B65G 57/03 (20060101); G01B
11/24 (20060101); G01S 17/08 (20060101) |
Field of
Search: |
;700/217 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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4-327422 |
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Nov 1992 |
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JP |
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6-137822 |
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May 1994 |
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JP |
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7-120238 |
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May 1995 |
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JP |
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7-242309 |
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Sep 1995 |
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JP |
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2012-220479 |
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Nov 2012 |
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JP |
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Other References
International Search Report of PCT application No.
PCT/JP2015/003595 dated Oct. 20, 2015. cited by applicant.
|
Primary Examiner: Logan; Kyle O
Attorney, Agent or Firm: McDermott Will & Emery LLP
Parent Case Text
This application is a U.S. national stage application of the PCT
international application No.PCT/JP2015/003595 filed on Jul. 16,
2015 the benefit of priority of a U.S. provisional application No.
62/032,963 filed on Aug. 4, 2014, the contents all of which are
incorporated herein by reference.
Claims
The invention claimed is:
1. A method of instructing a loading of a package, comprising:
providing a single light source and a single light receiving
element; estimating an arrangement of a plurality of loaded
packages three-dimensionally; determining, based on the estimated
arrangement, a loading position at which a target package is loaded
next; instructing a position at which the target package is loaded
by irradiation with an index light indicating the determined
loading position; causing the single light source to irradiate the
plurality of loaded packages with a first measurement light;
causing the single light receiving element to receive a first
reflection light which is generated by the first measurement light
being reflected from the plurality of packages; causing the single
light source to irradiate the target package with a second
measurement light; causing the single light receiving element to
receive a second reflection light generated by irradiating the
target package with the second measurement light being reflected
from the target package; and estimating the three-dimensional shape
of the target package based on the second reflection light, wherein
said estimating the arrangement comprises estimating the
arrangement of the plurality of packages three-dimensionally based
on the first reflection light, wherein said determining the loading
position comprises determining the loading position based on the
estimated arrangement and a three-dimensional shape of the target
package, and wherein said determining the loading position based on
the estimated arrangement and the three-dimensional shape of the
target package comprises determining the loading position based on
the estimated arrangement and the estimated three-dimensional shape
of the target.
2. The method of claim 1, wherein said receiving the first
reflection light comprises receiving the first reflection light
with a light receiving element, and wherein said estimating the
arrangement based on the first reflection light comprises
estimating the arrangement three-dimensionally by calculating a
distance between the light receiving element and each of the
plurality of packages based on a time difference between a time
point when the first measurement light is irradiated and a time
point when the first reflection light is received with the light
receiving element.
3. The method of claim 1, wherein the first measurement light is a
laser slit light, and wherein said receiving the first reflection
light comprises imaging the first reflection light with a
high-speed camera.
4. The method of claim 1, wherein said instructing the position at
which the target package is loaded by irradiation with the index
light indicating the determined loading position comprises
instructing the position at which the target package is loaded by
causing the single light source to irradiate the index light
indicating the determined loading position.
5. The method of claim 1, wherein said estimating the arrangement
of the plurality of loaded packages three-dimensionally comprises
estimating the arrangement of the plurality of loaded packages
three-dimensionally using a two-dimensional distance image of the
plurality of loaded packages.
6. A loading instruction system comprising: an arrangement
estimation device that estimates an arrangement of a plurality of
loaded packages three-dimensionally; a controller that determines,
based on the estimated arrangement, a loading position at which a
target package is loaded next; an irradiation device that instructs
a position at which the target package is loaded by irradiation
with an index light indicating the determined loading position; a
single light source; and a single light receiving element, wherein
the single light source is configured to irradiate the plurality of
loaded packages with a first measurement light, wherein the single
light receiving element is configured to receive a first reflection
light generated by the first measurement light being reflected from
the plurality of packages, wherein the single light source is
configured to irradiate the target package with a second
measurement light, wherein the single light receiving element is
configured to receive a second reflection light generated by the
second measurement light being reflected from the target package,
wherein the arrangement estimation device is configured to:
three-dimensionally estimate the arrangement of the plurality of
packages based on the first reflection light; and estimate the
three-dimensional shape of the target package based on the second
reflection light, and wherein the controller is configured to
determine the loading position based on the estimated arrangement
and the estimated three-dimensional shape of the target
package.
7. The loading instruction system of claim 6, wherein the
arrangement estimation device is configured to estimate the
arrangement three-dimensionally by calculating a distance between
the light receiving element and each of the plurality of packages
based on a time difference between a time point when the first
measurement light is irradiated and a time point when the first
reflection light is received with by the light receiving
element.
8. The loading instruction system of claim 6, wherein the first
measurement light is laser slit light, and wherein the arrangement
estimation device includes a high-speed camera that images the
first reflection light.
9. The loading instruction system of claim 6, wherein the
controller is configured to determine the loading position based on
the estimated arrangement and a three-dimensional shape of the
target package.
10. The loading instruction system of claim 6, wherein the single
light source is configured to irradiate an index light indicating
the determined loading position.
11. The loading instruction system of claim 6, wherein the
arrangement estimation device estimates the arrangement of the
plurality of loaded packages three-dimensionally using a
two-dimensional distance image of the plurality of loaded packages.
Description
TECHNICAL FIELD
The present invention relates to a package loading instruction
method and a loading instruction system such as loading of a
package in a transport means, for example a truck or loading of a
package in a storehouse.
BACKGROUND ART
Recently, sales of merchandise by a so-called e-commerce in which a
user orders merchandise over the Internet and then a trader who has
received the order delivers the merchandise to a specified
receiving location, such as the user's home or the home nearby
convenience store, are gradually activated.
It is important to load merchandise by laying the merchandise
without leaving a useless space in a cargo space of the transport
means, for example a truck, such that the trader received the order
delivers the merchandise to as many users as possible in a short
period of time.
In a case where the trader stores the merchandise in the storehouse
until the trader receives an order, it is important to load the
merchandise by laying the merchandise without leaving a useless
space in the storehouse in the same manner as described above, such
that the trader stores as much the merchandises as possible in one
storehouse.
A technique relating to the above loading is disclosed in PTL
1.
CITATION LIST
Patent Literature
PTL 1: Japanese Patent Laid-Open Publication No. 4-327422
SUMMARY
An arrangement of loaded packages is estimated three-dimensionally.
A loading position at which a target package is loaded next is
determined based on the estimated arrangement. A position at which
the target package is loaded is instructed by irradiation with an
index light indicating the determined loading position.
This method allows a package to be loaded in a limited space, for
example, the package to be loaded optimally in a transport device
or in a storehouse.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is an overall schematic diagram of a loading instruction
system according to Exemplary Embodiment 1.
FIG. 2 is an overall schematic diagram of a loading instruction
system according to Exemplary Embodiment 2.
DETAIL DESCRIPTION OF PREFERRED EMBODIMENTS
Exemplary Embodiment 1
FIG. 1 is an overall schematic diagram of loading instruction
system 1000 according to Exemplary Embodiment 1. Loading
instruction system 1000 performs a first package loading
instruction method. According to Embodiment 1, "loading" refers to
placing articles, such as a package, in a predetermined section
while, e.g. allowing the articles to overlap each other and
disposing the articles adjacent to each other.
Loading instruction system 1000 includes arrangement estimation
device 1 and irradiation device 2. FIG. 1 illustrates packages 10
loaded in loading section R1 and arrows indicating a light and a
direction of the light.
In loading instruction system 1000 according to Embodiment 1, a
Time of Flight (ToF) sensing camera is used as arrangement
estimation device 1. The ToF sensing camera includes light source
1a and light receiving element 1b. Light source la emits
measurement light M11.
The ToF sensing camera measures a time point when a target object
(a package) is irradiated with measurement light M11 and a time
point when reflection light M12 from the target object generated by
measurement light M11 being reflected from the target object is
received with light receiving element 1b, and then, calculates a
distance from light receiving element 1b to the target object based
on the time difference between the time points. Light receiving
element 1b includes pixels each of which can receive reflection
light M12. The ToF sensing camera can obtain a distance image
including pixels each having a distance between light receiving
element 1b and a portion of the target object corresponding to
respective one of the pixels as a value based on the time
difference measured at the respective one of the pixels. The ToF
sensing camera can estimate a three-dimensional shape and a
dimension of the target object by obtaining a two-dimensional
captured image by normally capturing the target object and
acquiring the distance image.
Irradiation device 2 is implemented by a projector. The projector
may preferably have a projection angle enough to irradiate the
entire section at which packages 10 are placed.
A package loading instruction method using loading instruction
system 1000 will be detailed with reference to FIG. 1. In FIG. 1,
packages 10 are loaded in loading section R1 in which a package is
to be loaded.
The first package loading instruction method includes five
processes: an irradiation process; a light receiving process; an
arrangement estimation process; a loading position determination
process; and a loading position instruction process.
In the irradiation process, first, the ToF sensing camera, light
source la of arrangement estimation device 1 irradiates packages 10
with measurement light M11. According to Embodiment 1, measurement
light M11 is near-infrared light which is invisible light.
Next, in the light receiving process, light receiving element 1b of
arrangement estimation device 1 receives reflection light M12
generated by measurement light M11 with which packages 10 are
irradiated in the irradiation process being reflected from packages
10.
Next, in the arrangement estimation process, three-dimensional
shape of packages 10, that is, the arrangement of packages 10 is
estimated based on the distance image and the captured image of
packages 10 based on the method described above with reflection
light M12.
Next, in the loading position determination process, controller
1001 determines the optimal loading position of target package 10a
based on the data indicating the arrangement of packages 10
estimated in the arrangement estimation process and the
three-dimensional shape of target package 10a to be loaded next.
Controller 1001 may be a device separated from arrangement
estimation device 1 and irradiation device 2 or may be incorporated
in one of arrangement estimation device 1 and irradiation device 2.
The three-dimensional shape data indicating the three-dimensional
shape of target package 10a is acquired by controller 1001 before
controller 1001 determines the optimal loading position. The
three-dimensional shape data can be obtained by imaging a
three-dimensional shape of target package 10a with, e.g. the ToF
camera similarly to arrangement estimation device 1. In other
words, arrangement estimation device 1 receives reflection light
MM12 reflected from target package 10a after target package 10a is
irradiated with measurement light MM11. Controller 1001 estimates
the three-dimensional shape of target package 10a based on
reflection light MM12. Alternatively, the reflection light of the
slit light to be used in the second package loading instruction
method to be described below is received by a high-speed camera to
obtain the three-dimensional shape data of target package 10a.
Next, in the loading position instruction process, irradiation
device 2 emits index light L10 indicating optimal loading position
P10 of target package 10a determined by controller 1001 in the
loading position determination process. Irradiation device 2 can
irradiate the entirety of loading section R1 for loading target
package 10a. Irradiation device 2 projects index light L10 only to
loading position P10 in the irradiating range.
An operator loads target package 10a in loading position P10
instructed in the loading position instruction process. The
arrangement of packages 10 and 10a loaded in predetermined loading
section R1 becomes optimal by repeating these four processes, and
as a lot of packages 10 and 10a can be loaded in predetermined
loading section R1.
In the loading instruction method in the related art described
above, loading in the package space of the transport device of the
merchandise or loading in the storehouse is basically performed
based on a subjective judgment of the operator. However, the
merchandise has wide variety of shapes, it is very difficult to
load merchandise in the cargo space or the storehouse without
leaving a useless space. Therefore, the merchandise may not be
loaded optimally in the cargo space or in the storehouse.
In the loading instruction method according to Embodiment 1,
packages 10 and 10a are loaded optimally in the limited space, such
as the transport device and the storehouse.
Exemplary Embodiment 2
FIG. 2 is an overall schematic diagram of loading instruction
system 2000 according to Exemplary Embodiment 2. Loading
instruction system 2000 performs the second package loading
instruction method. The second package loading instruction method
according to Embodiment 2 is different from the first package
loading instruction method according to Embodiment 1 in the method
of estimating the arrangement of packages 10 loaded in loading
section R1 in which a package is to be loaded.
As illustrated in FIG. 2, loading instruction system 2000 used in
the second package loading instruction method includes arrangement
estimation device 3 and irradiation device 4, instead of
arrangement estimation device 1 and irradiation device 2 of loading
instruction system 1000 according to Embodiment 1. In FIG. 2,
packages 10 loaded in loading section R1 are also illustrated, and
arrow indicates light and a direction of the light. Controller 1001
may be a device separated from arrangement estimation device 3 and
irradiation device 4 or may be incorporated in one of arrangement
estimation device 3 and irradiation device 4.
Arrangement estimation device 3 includes high-speed camera 3a
incorporated therein. A projector is used as irradiation device 4.
The device includes light source 4a.
The second package loading instruction method includes five
processes: an irradiation process; a light receiving process; an
arrangement estimation process; a loading position determination
process; and a loading position instruction process, similarly to
the first package loading instruction method.
In the irradiation process, first, irradiation device 4 irradiates
the entirety of packages 10 loaded in loading section R1 in which a
package is to be loaded with measurement light M21 several times.
According to Embodiment 2, measurement light M21 is laser slit
light.
Next, in the light receiving process, arrangement estimation device
3 receives reflection light M22 generated by measurement light M21
emitted in the irradiation process being reflected from packages
10. In accordance with Embodiment 2, high-speed camera 3a of
arrangement estimation device 3 receives a pattern of reflection
light M22 of measurement light M21 which is laser slit light.
Next, in the arrangement estimation process, the three-dimensional
shape of packages 10 based on the pattern of reflection light M22,
that is, the arrangement of packages 10 is estimated.
Next, in the loading position determination process, controller
1001 determines optimal loading position P10 of target package 10a
based on the three-dimensional shape data indicating the
arrangement of packages 10 estimated in the arrangement estimation
process and the three-dimensional shape of target package 10a to be
loaded next. Loading position P10 in the loading position
determination process is determined by a method similar to the
first package loading instruction method. The three-dimensional
shape data of target package 10a can be obtained by the following
method. The three-dimensional shape of target package 10a is
obtained based on reflection light MM22 reflected after light
source 4a of irradiation device 4 irradiates the target package 10a
with measurement light MM21, and thus the three-dimensional shape
data indicating the three-dimensional shape can be obtained.
Next, in the loading position instruction process, irradiation
device 4 emits index light L10 indicating optimal loading position
P10 of target package 10a determined by controller 1001 in the
loading position determination process. In other words, in the
second package loading instruction method, irradiation device 4
emits measurement light M21 which is laser slit light described
above and index light L10 indicating optimal loading position P10.
Light source la according to Embodiment 1 which is different from
irradiation device 4 is not required for arrangement estimation
device 3 by the configuration, thus simplifying arrangement
estimation device 3. The influence of multi-path that occurs in the
package space can be reduced by using the laser slit light as
measurement light M21 from irradiation device 4.
Irradiation device 4 can irradiate the entirety of loading section
R1 similarly to the first package loading instruction method.
Irradiation device 2 projects index light L10 indicating loading
position P10 only to loading position P10 in the irradiating
range.
In the second package loading instruction method, loading
instruction system 2000 can instruct optimal loading position P10
of target package 10a to an operator.
As described above, in the package loading instruction method
according to the present invention, as described above, optimal
loading position P10 can be instructed to the operator, and as a
lot of packages 10 and 10a can be loaded in predetermined loading
section R1.
In the above description, in the first package loading instruction
method and the second package loading instruction method, the ToF
sensing camera or the laser slit light is used. However, in
addition to the ToF sensing camera or the laser slit light, a
two-dimensional image sensing system, such as a stereo camera may
be used. Even using the two-dimensional image sensing system, the
arrangement of packages 10 can be estimated, thus providing the
same effect.
In the package loading instruction method according to Embodiments
1 and 2, a lot of packages 10 and 10a can be loaded in
predetermined loading section R1, and the loading of a package in
the package space or the storehouse can be performed without
leaving a useless space.
INDUSTRIAL APPLICABILITY
In a package loading instruction method according to the present
invention, a lot of packages can be loaded in predetermined loading
section and the loading of a package in the package space or the
storehouse can be performed without leaving a useless space.
REFERENCE MARKS IN THE DRAWINGS
1 arrangement estimation device 1a light source 1b light receiving
element 2 irradiation device 3 arrangement estimation device 3a
high-speed camera 4 irradiation device 4a light source 10 package
10a target package M11, M21 measurement light (first measurement
light) M12, M22 reflection light (first reflection light) MM11,
MM21 measurement light (second measurement light) MM12, MM22
reflection light (second reflection light) L10 index light 1000,
2000 loading instruction system
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